Time-varying formation tracking of multiple manipulators via distributed finite-time control

2016 ◽  
Vol 202 ◽  
pp. 20-26 ◽  
Author(s):  
Ming-Feng Ge ◽  
Zhi-Hong Guan ◽  
Chao Yang ◽  
Tao Li ◽  
Yan-Wu Wang
Keyword(s):  
Finite Time ◽  
Time Varying ◽  
Time Control ◽  
Formation Tracking ◽  
Multiple Manipulators

Finite-time control of uncertain time-varying systems in p-normal form

2020 ◽  
Author(s):  
Kanya Rattanamongkhonkun ◽  
Radom Pongvuthithum ◽  
Chulin Likasiri
Keyword(s):  
Normal Form ◽  
Finite Time ◽  
Control Law ◽  
Time Varying ◽  
Time Control ◽  
Special Cases ◽  
Time Varying Systems ◽  
A Chain ◽  
Uncertain Time ◽  
Power Integrator

Abstract This paper addresses a finite-time regulation problem for time-varying nonlinear systems in p-normal form. This class of time-varying systems includes a well-known lower-triangular system and a chain of power integrator systems as special cases. No growth condition on time-varying uncertainties is imposed. The control law can guarantee that all closed-loop trajectories are bounded and well defined. Furthermore, all states converge to zero in finite time.

Fractional robust finite time control of four-wheel-steering mobile robots subject to serious time-varying perturbations

2022 ◽  
Vol 169 ◽  
pp. 104634
Author(s):  
Liquan Jiang ◽  
Shuting Wang ◽  
Yuanlong Xie ◽  
Sheng Quan Xie ◽  
Shiqi Zheng ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Time Varying ◽  
Time Control

scholarly journals Finite-Time Tracking Control for Nonstrict-Feedback State-Delayed Nonlinear Systems with Full-State Constraints and Unmodeled Dynamics

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Yangang Yao ◽  
Jieqing Tan ◽  
Jian Wu
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
State Constraints ◽  
Unmodeled Dynamics ◽  
Time Varying ◽  
Cubic Form ◽  
Time Control ◽  
Full State ◽  
Full State Constraints

The problem of finite-time tracking control is discussed for a class of uncertain nonstrict-feedback time-varying state delay nonlinear systems with full-state constraints and unmodeled dynamics. Different from traditional finite-control methods, a C 1 smooth finite-time adaptive control framework is introduced by employing a smooth switch between the fractional and cubic form state feedback, so that the desired fast finite-time control performance can be guaranteed. By constructing appropriate Lyapunov-Krasovskii functionals, the uncertain terms produced by time-varying state delays are compensated for and unmodeled dynamics is coped with by introducing a dynamical signal. In order to avoid the inherent problem of “complexity of explosion” in the backstepping-design process, the DSC technology with a novel nonlinear filter is introduced to simplify the structure of the controller. Furthermore, the results show that all the internal error signals are driven to converge into small regions in a finite time, and the full-state constraints are not violated. Simulation results verify the effectiveness of the proposed method.

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